US3999623A - Frame distortion relief steering control system - Google Patents

Frame distortion relief steering control system Download PDF

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Publication number
US3999623A
US3999623A US05/605,946 US60594675A US3999623A US 3999623 A US3999623 A US 3999623A US 60594675 A US60594675 A US 60594675A US 3999623 A US3999623 A US 3999623A
Authority
US
United States
Prior art keywords
distortion
frame
propelling
resistance
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US05/605,946
Other languages
English (en)
Inventor
Leland E. Kuntz
Royal R. Hawkins
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Danfoss Power Solutions Inc
Original Assignee
Honeywell Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honeywell Inc filed Critical Honeywell Inc
Priority to US05/605,946 priority Critical patent/US3999623A/en
Priority to GB31579/76A priority patent/GB1507614A/en
Priority to DE19762637006 priority patent/DE2637006A1/de
Priority to FR7625187A priority patent/FR2321414A1/fr
Application granted granted Critical
Publication of US3999623A publication Critical patent/US3999623A/en
Assigned to SUNDSTRAND CORPORATION, A CORP. OF DE reassignment SUNDSTRAND CORPORATION, A CORP. OF DE ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: HONEYWELL INC., A CORP. OF DE
Assigned to SUNDSTRAND-SAUER COMPANY, A GENERAL PARTNERSHIP OF DE reassignment SUNDSTRAND-SAUER COMPANY, A GENERAL PARTNERSHIP OF DE ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: SUNDSTRAND CORPORATION, A DE CORP.
Assigned to SAUER INC., reassignment SAUER INC., ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: SUNDSTRAND-SAUER COMPANY, A DE GENERAL PARTNERSHIP
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle

Definitions

  • This invention relates to the steering of a land vehicle and particularly relates to those four-post vehicles which are steered by a combination of turning the tracks or wheels of the machines and of driving those tracks or wheels at differential speeds.
  • 3,857,577 shows a system for measuring or sensing frame distortion for controlling the slope of the working member of the machine, it has not been suggested that the distortion on the frame of the machine can be relieved or minimized by sensing that distortion and making the proper adjustments in the steering control system.
  • the present invention compensates for distortion of the frame of a land vehicle by providing an apparatus for supplying a signal dependent upon that distortion and utilizing that signal to control the steering of the vehicle such that the distortion is relieved, minimized or eliminated.
  • FIG. 1 shows a schematic illustration of the machine frame and propelling means along with the steering sensor used to turn the propelling means to steer the vehicle.
  • FIG. 2 shows a schematic illustration of the circuitry used to relieve the distortion of the machine frame.
  • the machine frame 10 is driven along its line of flight by propelling means 11, 12, 13 and 14, which may take the form of tracks or wheels, and the propelling means 11-14 are driven by respective motors 15, 16, 17, and 18.
  • a tie-rod 19 is used to turn the front propelling means 11 and 12, about respectively generally vertical axes, to steer the vehicle but it is to be understood that either the front propelling means, the back propelling means or both the front and back propelling means may be turned, about generally vertical respective axes, to steer the vehicle.
  • the tie-rod 19 is driven by a piston 20 which is supplied with hydraulic fluid by pipes 21 and 22.
  • the hydraulic fluid which flows through pipes 21 and 22 is controlled by a valve 23 having an inlet pipe 24, and valve 23 is controlled over an electrical cable 25 from a steering sensor 26.
  • the steering sensor 26 has a follower 27 which follows an external reference, such as a stringline 28.
  • the distortion on the machine frame 10 is sensed by a transducer 30 which may take the form of a potentiometer having a wiper arm 31 driven by a rod 32 attached to the front of the vehicle and a resistance 33 housed in a container 34 supported by a bracket 35 to the rear of the frame. As the machine frame distorts, the arm 31 will wipe over the resistance 33 to give an indication of the amount of the distortion which the machine frame 10 is experiencing.
  • a transducer 30 which may take the form of a potentiometer having a wiper arm 31 driven by a rod 32 attached to the front of the vehicle and a resistance 33 housed in a container 34 supported by a bracket 35 to the rear of the frame.
  • a speed control means 40 which may take the form of a potentiometer having a wiper arm 41 and a resistance 42 is shown for controlling the speed of the right and left propelling means.
  • Resistance 42 is connected between a source, which may be a positive source, and a reference potential, which may be ground, and the wiper arm is connected from the resistance 42 through a first resistor 43 to one input terminal of an amplifier 44 and through a second resistance 45 to one input terminal of an amplifier 46.
  • a resistance 47 of a manual steering control means or potentiometer 48 Connected between the junction of the resistor 43 and the amplifier 44 and the junction of resistor 45 and the amplifier 46 is a resistance 47 of a manual steering control means or potentiometer 48.
  • the steering control potentiometer 48 has a wiper arm 49 connected between resistance 47 and ground.
  • the wiper arm 31 of the distortion sensor 30 is connected to a source of potential which may be positive.
  • the output from the amplifier 44 drives a valve 50 which controls the output from a pump 51 as by controlling its swash plate.
  • the output from pump 51 is supplied to hydraulic motors 16 and 17 to control the speed at which the left side side of the vehicle is driven.
  • the hydraulic motor 16 has an output shaft 52 for driving the propelling means 12 and the hydraulic motor 17 has an output shaft 53 for driving the propelling means 13.
  • a pulse pickup unit which may take the form of a magnetic pickup 54, senses the speed at which the output shaft 53 rotates and provides a signal through an amplifier 55 to the other input of amplifier 44. This signal is dependent upon the speed at which the left side of the vehicle is driven.
  • This feedback mechanism is designed to insure that the left side of the machine is driven at the speed dictated by the first input from resistor 43 to the amplifier 44.
  • the output from amplifier 46 drives a valve 60 which controls the output from a pump 61.
  • the output from the pump 61 drives the hydraulic motors 15 and 18 having respective output shafts 62 and 63 to drive their associated propelling means 11 and 14.
  • a pulse pickup unit 64 senses the speed at which the shaft 62 rotates and provides an input through amplifier 65 to the other input terminal of amplifier 46.
  • the output from amplifier 65 provides an indication of the speed at which the right side of the vehicle is being driven. The purpose of this feedback is to insure that the right side of the vehicle is being driven at the speed dictated by the input to amplifier 46 from resistor 45.
  • the wiper arm 27 will move accordingly to cause the sensor 26, which may take the form of a W895A sensor manufactured by Honeywell Inc. or the system according to U.S. Pat. No. 3,674,094, to drive valve 23 to in turn drive the tie-rod 19 which turns the propelling means 11 and 12.
  • the frame 10 of the vehicle may experience frame distortion. If the frame distorts, the rod 32 will drive the wiper arm 31 over the resistance 33 to adjust the inputs to amplifiers 44 and 46 relatively. This relative adjustment increases the speed of one side of the vehicle by way of increasing the speeds of the appropriate propelling means and decreases the speed of other side of the vehicle by decreasing the speed of the appropriate propelling means to thereby relieve the frame distortion.
  • the vehicle can be manually steered by adjusting the wiper arm 49 which will have substantially the same effect as the movement of the wiper arm 31.
  • the speed of the vehicle can be changed by moving the wiper arm 41 over resistance 42.
  • the amplifiers 44 and 46 are thereby controlled in unison to either increase or decrease the speed of the hydraulic motors 11-14 in the same direction to control the speed of the vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
US05/605,946 1975-08-20 1975-08-20 Frame distortion relief steering control system Expired - Lifetime US3999623A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US05/605,946 US3999623A (en) 1975-08-20 1975-08-20 Frame distortion relief steering control system
GB31579/76A GB1507614A (en) 1975-08-20 1976-07-29 Steering control system
DE19762637006 DE2637006A1 (de) 1975-08-20 1976-08-17 Verfahren zur lenkungssteuerung eines landfahrzeuges und steuersystem zur durchfuehrung dieses verfahrens
FR7625187A FR2321414A1 (fr) 1975-08-20 1976-08-19 Systeme de commande de direction pour vehicule tous terrains

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/605,946 US3999623A (en) 1975-08-20 1975-08-20 Frame distortion relief steering control system

Publications (1)

Publication Number Publication Date
US3999623A true US3999623A (en) 1976-12-28

Family

ID=24425868

Family Applications (1)

Application Number Title Priority Date Filing Date
US05/605,946 Expired - Lifetime US3999623A (en) 1975-08-20 1975-08-20 Frame distortion relief steering control system

Country Status (4)

Country Link
US (1) US3999623A (enrdf_load_stackoverflow)
DE (1) DE2637006A1 (enrdf_load_stackoverflow)
FR (1) FR2321414A1 (enrdf_load_stackoverflow)
GB (1) GB1507614A (enrdf_load_stackoverflow)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2599869A1 (fr) * 1986-06-09 1987-12-11 Linde Ag Installation de commande pour vehicule a direction par difference de vitesse
CN108797690A (zh) * 2018-06-27 2018-11-13 安徽佳明环保科技股份有限公司 一种河湖清淤装置及其控制方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1315398B1 (it) * 2000-02-23 2003-02-10 Massimo Bettella Carrello da trasporto motorizzato a trazione differenziata
CN113427008B (zh) 2021-06-30 2022-02-08 宁夏东方钽业股份有限公司 钽钨合金粉末及其制备方法
DE102021005603A1 (de) 2021-11-12 2023-05-17 Robert Bügener Schienenleitfahrzeug

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3029715A (en) * 1958-02-27 1962-04-17 Preco Inc Control system for paving machine
US3857577A (en) * 1973-09-28 1974-12-31 Honeywell Inc Proportional frame twist slope control

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR748862A (fr) * 1932-04-01 1933-07-12 Michelin & Cie Guidage de véhicules sur route
GB1320314A (en) * 1969-07-01 1973-06-13 Autotrack Systems Ltd Vehicle guidance system
BE757894A (nl) * 1970-10-23 1971-04-01 Clayson Nv Inrichting voor de automatische besturing van landbouwmachines meer speciaal maaidorsers, (uitv. : g. strubbe),
FR2240678B1 (enrdf_load_stackoverflow) * 1973-08-14 1978-01-13 Fahr Ag Maschf

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3029715A (en) * 1958-02-27 1962-04-17 Preco Inc Control system for paving machine
US3857577A (en) * 1973-09-28 1974-12-31 Honeywell Inc Proportional frame twist slope control

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2599869A1 (fr) * 1986-06-09 1987-12-11 Linde Ag Installation de commande pour vehicule a direction par difference de vitesse
CN108797690A (zh) * 2018-06-27 2018-11-13 安徽佳明环保科技股份有限公司 一种河湖清淤装置及其控制方法
CN108797690B (zh) * 2018-06-27 2020-11-27 安徽佳明环保科技股份有限公司 一种河湖清淤装置及其控制方法

Also Published As

Publication number Publication date
FR2321414B1 (enrdf_load_stackoverflow) 1982-02-12
DE2637006A1 (de) 1977-03-03
GB1507614A (en) 1978-04-19
FR2321414A1 (fr) 1977-03-18

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Legal Events

Date Code Title Description
AS Assignment

Owner name: SUNDSTRAND CORPORATION, 4751 HARRISON AVE., ROCKFO

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:HONEYWELL INC., A CORP. OF DE;REEL/FRAME:003936/0748

Effective date: 19811214

AS Assignment

Owner name: SUNDSTRAND-SAUER COMPANY, A GENERAL PARTNERSHIP OF

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:SUNDSTRAND CORPORATION, A DE CORP.;REEL/FRAME:005261/0112

Effective date: 19890807

AS Assignment

Owner name: SAUER INC.,

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:SUNDSTRAND-SAUER COMPANY, A DE GENERAL PARTNERSHIP;REEL/FRAME:005919/0145

Effective date: 19900129